Trait nphysics3d::solver::NonlinearConstraintGenerator [−][src]
pub trait NonlinearConstraintGenerator<N: RealField + Copy, Handle: BodyHandle> { fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize; fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>; }
Expand description
Implemented by structures that generate non-linear constraints.
Required methods
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
Maximum of non-linear position constraint this generator needs to output.
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
Generate the i-th position constraint of this generator.